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integrateVolumeUnit fix #2725

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Merged
merged 6 commits into from
Oct 26, 2020
Merged

integrateVolumeUnit fix #2725

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15f5542
replace int with Point3i at integrateVolumeUnit signature
DumDereDum Oct 22, 2020
637a22a
Update hash_tsdf.hpp
DumDereDum Oct 23, 2020
8118d63
Update hash_tsdf.cpp
DumDereDum Oct 23, 2020
39c671e
Update hash_tsdf.cpp
DumDereDum Oct 23, 2020
2debbbb
error fix
DumDereDum Oct 26, 2020
2dabd2c
minor fix
DumDereDum Oct 26, 2020
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3 changes: 2 additions & 1 deletion modules/rgbd/src/hash_tsdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,7 +216,8 @@ void HashTSDFVolumeCPU::integrate(InputArray _depth, float depthFactor, const Ma
if (volumeUnit.isActive)
{
//! The volume unit should already be added into the Volume from the allocator
integrateVolumeUnit(truncDist, voxelSize, maxWeight, volumeUnit.pose, volumeUnitResolution, volStrides, depth,
integrateVolumeUnit(truncDist, voxelSize, maxWeight, volumeUnit.pose,
Point3i(volumeUnitResolution, volumeUnitResolution, volumeUnitResolution), volStrides, depth,
depthFactor, cameraPose, intrinsics, pixNorms, volUnitsData.row(volumeUnit.index));

//! Ensure all active volumeUnits are set to inactive for next integration
Expand Down
2 changes: 1 addition & 1 deletion modules/rgbd/src/tsdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,7 @@ void TSDFVolumeCPU::integrate(InputArray _depth, float depthFactor, const Matx44
pixNorms = preCalculationPixNorm(depth, intrinsics);
}

integrateVolumeUnit(truncDist, voxelSize, maxWeight, (this->pose).matrix, volResolution.x, volStrides, depth,
integrateVolumeUnit(truncDist, voxelSize, maxWeight, (this->pose).matrix, volResolution, volStrides, depth,
depthFactor, cameraPose, intrinsics, pixNorms, volume);
}

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20 changes: 10 additions & 10 deletions modules/rgbd/src/tsdf_functions.cpp
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Expand Up @@ -111,7 +111,7 @@ depthType bilinearDepth(const Depth& m, cv::Point2f pt)

void integrateVolumeUnit(
float truncDist, float voxelSize, int maxWeight,
cv::Matx44f _pose, int volResolution, Vec4i volStrides,
cv::Matx44f _pose, Point3i volResolution, Vec4i volStrides,
InputArray _depth, float depthFactor, const cv::Matx44f& cameraPose,
const cv::kinfu::Intr& intrinsics, InputArray _pixNorms, InputArray _volume)
{
Expand All @@ -122,7 +122,7 @@ void integrateVolumeUnit(
cv::Affine3f vpose(_pose);
Depth depth = _depth.getMat();

Range integrateRange(0, volResolution);
Range integrateRange(0, volResolution.x);

Mat volume = _volume.getMat();
Mat pixNorms = _pixNorms.getMat();
Expand All @@ -147,7 +147,7 @@ void integrateVolumeUnit(
for (int x = range.start; x < range.end; x++)
{
TsdfVoxel* volDataX = volDataStart + x * volStrides[0];
for (int y = 0; y < volResolution; y++)
for (int y = 0; y < volResolution.y; y++)
{
TsdfVoxel* volDataY = volDataX + y * volStrides[1];
// optimization of camSpace transformation (vector addition instead of matmul at each z)
Expand All @@ -161,7 +161,7 @@ void integrateVolumeUnit(
if (zStepPt.z > 0)
{
startZ = baseZ;
endZ = volResolution;
endZ = volResolution.z;
}
else
{
Expand All @@ -174,7 +174,7 @@ void integrateVolumeUnit(
if (basePt.z > 0)
{
startZ = 0;
endZ = volResolution;
endZ = volResolution.z;
}
else
{
Expand All @@ -183,7 +183,7 @@ void integrateVolumeUnit(
}
}
startZ = max(0, startZ);
endZ = min(int(volResolution), endZ);
endZ = min(int(volResolution.z), endZ);
for (int z = startZ; z < endZ; z++)
{
// optimization of the following:
Expand Down Expand Up @@ -281,7 +281,7 @@ void integrateVolumeUnit(
for (int x = range.start; x < range.end; x++)
{
TsdfVoxel* volDataX = volDataStart + x * volStrides[0];
for (int y = 0; y < volResolution; y++)
for (int y = 0; y < volResolution.y; y++)
{
TsdfVoxel* volDataY = volDataX + y * volStrides[1];
// optimization of camSpace transformation (vector addition instead of matmul at each z)
Expand All @@ -299,7 +299,7 @@ void integrateVolumeUnit(
if (zStep.z > 0)
{
startZ = baseZ;
endZ = volResolution;
endZ = volResolution.z;
}
else
{
Expand All @@ -312,7 +312,7 @@ void integrateVolumeUnit(
if (basePt.z > 0)
{
startZ = 0;
endZ = volResolution;
endZ = volResolution.z;
}
else
{
Expand All @@ -321,7 +321,7 @@ void integrateVolumeUnit(
}
}
startZ = max(0, startZ);
endZ = min(int(volResolution), endZ);
endZ = min(int(volResolution.z), endZ);

for (int z = startZ; z < endZ; z++)
{
Expand Down
2 changes: 1 addition & 1 deletion modules/rgbd/src/tsdf_functions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ depthType bilinearDepth(const Depth& m, cv::Point2f pt);

void integrateVolumeUnit(
float truncDist, float voxelSize, int maxWeight,
cv::Matx44f _pose, int volResolution, Vec4i volStrides,
cv::Matx44f _pose, Point3i volResolution, Vec4i volStrides,
InputArray _depth, float depthFactor, const cv::Matx44f& cameraPose,
const cv::kinfu::Intr& intrinsics, InputArray _pixNorms, InputArray _volume);

Expand Down